中文摘要：

为了完成搜索过程中的二维队形部署,先将一维队形部署算法拓展为二维,然后结合已有的极值搜索算法得到一种混合搜索算法,使多机器人在搜索过程中部署成期望的二维队形,以便完成相应的任务.最后,给出了混合搜索算法的仿真结果以验证了算法的有效性和可操作性.

英文摘要：

In order to deploy multi-robot into a 2-D desired formation during the seeking process,this paper proposes a hybrid seeking algorithm with the formation deployment.Firstly,this paper expands the 1-D deployment algorithm to 2-D,and then combines with the extreme seeking algorithm to obtain the hybrid seeking algorithm.With the algorithm,multi-robot can deploy into a desired 2-D formation during seeking process.Simulation results are provided to illustrate the effectiveness of the algorithm.